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Prescod's win, edging out Dasaolu by 0.02 seconds with 10.09, means Chijindu Ujah or Adam Gemili will miss out when three picks are announced on 11 July.
Asha Philip won the women's 100m in 11.21, with Dina Asher-Smith sixth and now a doubt for August's championships.
Ex-Olympic champion Christine Ohuruogu was eliminated in the 400m heats.
Ohuruogu's failure was the first moment of drama on a day where guaranteed places were up for grabs at London's World Championships, beginning on 4 August.
To secure their place, athletes had to finish in the top two in the final of their discipline and must have also achieved a qualifying time.
Dasaolu, 29, and Prescod, 21, both already had the necessary time but the latter burst through in the closing 40 metres of the final to take the biggest win of his career.
"I can't believe it," said Prescod. "It's such a blessing. I can't describe how happy I am. The last year has been a real struggle for me but now I can focus on the World Championships."
Ujah withdrew from the final with cramp, meaning either he, Gemili or Nethaneel Mitchell-Blake - who all hold the qualifying time - will need the nod from selectors to be part of Britain's 100m team.
Ujah is the third-fastest sprinter in British history, Mitchell-Blake has the quickest time of 2017 and Gemili has major championship experience, including a fourth-place finish in the 200m at the 2016 Olympic Games.
"Ujah went flat out in the semi-final which he didn't need to do," said BBC Sport pundit Colin Jackson. "Let's hope it's not serious for him."
Commentator Steve Cram added: "That leaves the selectors with a little bit of a headache, who are they going to have to fill that third spot?"
Two-time world champion Ohuruogu boasts the quickest 400m time in British history, set in 2013, but she was third in her heat and will not contest Sunday's final.
Afterwards, the 33-year-old said she would be available for the 4x400m relay at the World Championships if needed but her time at Birmingham's Alexander Stadium was only 13th fastest across the four heats.
She could run the World Championship qualifying time in the next week but her best effort in 2017 is outside the top 10 in the country and it therefore looks highly likely she will miss out.
Perri Shakes-Drayton, who has raced just eight times since damaging her knee at the 2013 World Championships, impressed in the 400m heats, winning in 53.02.
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Asher-Smith - European champion and the fastest British female sprinter of all time - raced outdoors for the first time this year having recently recovered from a broken foot.
But she was left trailing as Philip won her fourth British title, benefiting from a good start to hold off 20-year-old Daryll Neita, who clocked 11.25 despite being slow from the blocks.
The pair are both guaranteed a place at the Worlds, while Asher-Smith, who was visibly emotional after the race, will now likely focus on the 200m.
The 21-year-old said: "I have been training for three weeks so I am so happy - everyone said I was not going to be able to run at all in 2017 but I thought, I just can't let that happen because it is a World Championships. The London dream is definitely back alive."
BBC 5 live pundit Darren Campbell said: "The third spot selectors can keep open. The fastest 100m runner out of our women this year is Desiree Henry and she has not competed in this race and has already got the qualifying time. I don't think they can justify picking Dina Asher-Smith."
Mo Farah - who will seek to defend his 5,000m and 10,000m titles in London - and long jumper Greg Rutherford will be part of the British team courtesy of their status as world champions.
Farah will be joined by Andrew Butchart in the 5,000m after the Scot secured a win in Birmingham, where 20-year-old Morgan Lake produced a lifetime best mark of 1.96m in the high jump to qualify.
Laura Muir is already assured of a place having won the overall 1500m Diamond League title last year, while Katarina Johnson-Thompson has already reached the heptathlon qualifying mark, as has Ashley Bryant in the decathlon.
Steeplechaser Rob Mullett won his third British title ahead of Zak Seddon as both men made the team.
European indoor champion Andrew Pozzi - who was exempted from the trials - was instead competing in the 110m hurdles at the Diamond League meeting in Paris on Saturday night and set a new personal best of 13.14 seconds to claim second place.
British Athletics selectors face a World Championship dilemma after Reece Prescod and James Dasaolu secured 100m places at the team trials.

In a world where how fast you can assimilate and analyse data, then act on it, makes the difference between profit and loss, computing speed is key.
This is why banks, insurance firms and hedge funds invest millions on technology to give them an edge when trading and to offset human error.
Quantum computers, that owe more to quantum mechanics than electronics, promise to be exponentially more powerful than traditional computers, holding out the tantalising prospect of near-perfect trading strategies and highly accurate forecasting and risk assessments.
"Financial services is a data-rich environment," says Kevin Hanley, director of design at the Royal Bank of Scotland (RBS). "Time is money and the ability to process data fast could have a huge potential benefit for our customers."
Classical computing relies on binary digits or bits - ones and zeros representing on/off, true/false states.
Quantum computing, on the other hand, features qubits, which can be both 0 or 1 at the same time - a state known as superposition. It all goes back to Schrodinger's cat, but that's another story....
Subatomic particles such as electrons, photons or ions can be made to behave in this mysterious way.
And because of this flexibility, qubits can do a lot more - a quantum computer could theoretically carry out trillions of calculations per second.
But these computers aren't easy to build or operate. Quantum processors from one of the leading manufacturers in this field -  D-Wave -  need to be cooled to just above absolute zero (-273.15C). They also need to be free from any electromagnetic interference.
This makes them bulky and costly; D-Wave's computers cost about $10m-15m.
Ironically they're also a bit limited in the kinds of calculations they can currently do, and many observers are still sceptical about how fast they really are.
So it's fair to say we're still at the very early stages of quantum computing.
Goldman Sachs, RBS, Guggenheim Partners and Commonwealth Bank of Australia have all invested in quantum computing, with the aim of stealing a march on their competitors.
"This is interesting to the financial world because if you can find an algorithmic advantage to solve a problem, that can give you a great competitive advantage," says Colin Williams, director of business development for D-Wave.
Google, Nasa, Lockheed Martin, the US Department of Energy and the University of Southern California have all used D-Wave's systems so far.
Other tech companies, such as Cambridge Quantum Computing, QxBranch and Rigetti, are also rushing to develop the hardware and software needed to make quantum computing a reality.
Quantum computers could solve problems in a day that would take classical computers thousands of years to solve.
So in the world of investment, they could consider millions of different global investment scenarios and calculate which ones have the best chance of success over the long-term.
"We can build an optimal portfolio today, but tomorrow it won't be optimal and needs to be rebalanced, which is expensive," says Marcos Lopez de Prado, a senior managing director at Guggenheim Partners.
Quantum computers could, in theory, give investment firms much better visibility over the longer-term to make more accurate predictions and reduce this need to tinker with their portfolios, saving costs and possibly boosting profits.
"If you can predict the US dollar/Swiss franc exchange rate a tenth of a cent more reliably, then the value isn't in the computer, it's in the cost saving," says Mr Williams.
Better forecasting could also reduce the prevalence of high-frequency trading, which has been accused of creating market volatility.
High-frequency traders have also been blamed for raising the costs of trading for ordinary investors by swooping into purchases nanoseconds before an interested party and reselling the stocks at a higher price.
So how soon will quantum computers be readily available?
D-Wave's Mr Williams reckons businesses will have access to quantum computing functionality by 2018, whereas RBS's Mr Hanley thinks it will be "five to 10 years before quantum computing comes of age".
But this isn't stopping financial institutions getting excited.
Blu Putnam, chief economist for the CME group - a US-based derivatives market - says quantum computing has led to a "mind-set change" where financial services "now seek out the nearly impossible to solve problems" in asset and risk management.
Before then, there is a lot of preparation to do.
Quantum computers can't be interrogated in the same way as traditional computers. The algorithms - sets of complex mathematical rules - used for classical computing need to be reworked to fit into the quantum system.
And finding and training computer scientists to understand and use these systems effectively is another big challenge for the financial services industry.
But Mr Hanley says: "Rather than observe these changes from a distance or be last in the queue, I'd rather be at the front and have a seat at the board."
Quantum computing may offer potential benefits to the financial services industry, but it also poses risks.
Banks rely on encryption to keep their transactions and customer data secure. This involves scrambling and unscrambling data using keys made of very large numbers - tens, if not hundreds, of digits long.
A hacker would have to find the right key by trial and error and test it in order to unlock the data - a process that could take hundreds of years even with the most powerful of today's supercomputers.
But quantum computers could crack the code with relative ease, potentially undermining the security of the entire global financial services industry.
Such a possibility leads Mr Lopez de Prado to fear that governments might outlaw quantum computers entirely.
"Governments could say they should be banned because otherwise there would be no secrets, but they can't be un-invented.
"We need a new mathematical breakthrough that creates an unbreakable encryption," he says.
Cryptographers are busy working on new algorithms to block attacks from future quantum computers and many believe this will be possible.
But the industry needs this breakthrough fast. The processing power of quantum computing is growing with each generation.
Follow Technology of Business editor @matthew_wall on Twitter.
Superfast quantum computers could transform the world of finance, advocates say.

Moore, 24, made 11 appearances for Ipswich in the Championship last season having joined from Forest Green Rovers on an 18-month contract in January.
The 6ft 5in forward has joined the Millers' pre-season tour in Austria.
He is Rotherham's sixth summer signing, following the arrivals of David Ball, Darren Potter, Michael Ihiekwe, Ryan Williams and Jamie Proctor.
Find all the latest football transfers on our dedicated page.

Ipswich Town striker Kieffer Moore has joined Rotherham United on loan until the end of the 2017-18 season.

